YASKAWA E-7-Series SGD7S - Speed Reference Filter; Zero Clamping

6.5 Speed Control
6.5.3 Speed Reference Filter
6-23
6
Application Functions
6.5.3 Speed Reference Filter
The speed reference filter is a first order lag filter that is applied to the V-REF (Speed Reference
Input) signal.
You set the speed reference filter in Pn307 (Speed Reference Filter Time Constant).
It is normally not necessary to change this parameter. If the setting is too high, the response to
the speed reference may be slowed down. Monitor the response to the speed reference as you
set this parameter.
6.5.4 Zero Clamping
Zero clamping is used to lock the servo when the input voltage of the V-REF (Speed Reference
Input) signal is equal to or lower than the speed set for the zero clamping level (Pn501 or
Pn580) while the /ZCLAMP (Zero Clamping) signal is ON. The SERVOPACK internally forms a
position loop, ignoring the speed reference.
Zero clamping is used for speed control in systems in which the host controller does not form a
position loop.
The Servomotor is clamped within one pulse of the position where zero clamping was applied,
and will return to the zero clamping position even if it is moved by an external force.
Adjust Pn102 (Position Loop Gain) if the Servomotor oscillates during zero clamping. If gain
selection is used, you must also adjust Pn106 (Second Position Loop Gain).
Pn307
Speed Reference Filter Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.01 ms 40 Immediately Setup
Speed
Position
Torque
Held in
place.
/ZCLAMP (Zero
Clamping) signal
V-REF (Speed
Reference Input)
Signal
Host
controller
SERVOPACK
Analog
/ZCLAMP
(Zero Clamping) signal
Released
AppliedReleased
Applied
ON OFF
Time
Zero clamping
Zero clamping level
(setting of Pn501 or
Pn580)
Speed
V-REF (Speed Reference Input) signal
Analog